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Sensors 2016, 16(3), 334;

An Anchor-Based Pedestrian Navigation Approach Using Only Inertial Sensors

College of Electronics Science and Technology, National University of Defence Technology; Changsha 410073, Hunan, China
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 29 January 2016 / Revised: 25 February 2016 / Accepted: 1 March 2016 / Published: 7 March 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
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In inertial-based pedestrian navigation, anchors can effectively compensate the positioning errors originating from deviations of Inertial Measurement Units (IMUs), by putting constraints on pedestrians’ motions. However, these anchors often need to be deployed beforehand, which can greatly increase system complexity, rendering it unsuitable for emergency response missions. In this paper, we propose an anchor-based pedestrian navigation approach without any additional sensors. The anchors are defined as the intersection points of perpendicular corridors and are considered characteristics of building structures. In contrast to these real anchors, virtual anchors are extracted from the pedestrian’s trajectory and are considered as observations of real anchors, which can accordingly be regarded as inferred building structure characteristics. Then a Rao-Blackwellized particle filter (RBPF) is used to solve the joint estimation of positions (trajectory) and maps (anchors) problem. Compared with other building structure-based methods, our method has two advantages. The assumption on building structure is minimum and valid in most cases. Even if the assumption does not stand, the method will not lead to positioning failure. Several real-scenario experiments are conducted to validate the effectiveness and robustness of the proposed method. View Full-Text
Keywords: pedestrian navigation; anchor; Rao-Blackwellized particle filter; building structure pedestrian navigation; anchor; Rao-Blackwellized particle filter; building structure

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Gu, Y.; Song, Q.; Li, Y.; Ma, M.; Zhou, Z. An Anchor-Based Pedestrian Navigation Approach Using Only Inertial Sensors. Sensors 2016, 16, 334.

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